JP2011115842A - Friction stir welding apparatus and welding method using the same apparatus - Google Patents

Friction stir welding apparatus and welding method using the same apparatus Download PDF

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JP2011115842A
JP2011115842A JP2009277908A JP2009277908A JP2011115842A JP 2011115842 A JP2011115842 A JP 2011115842A JP 2009277908 A JP2009277908 A JP 2009277908A JP 2009277908 A JP2009277908 A JP 2009277908A JP 2011115842 A JP2011115842 A JP 2011115842A
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temperature
tool
welding
welding tool
friction stir
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JP5391046B2 (en
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Ryoji Ohashi
良司 大橋
Mitsuo Fujimoto
光生 藤本
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Kawasaki Heavy Industries Ltd
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Kawasaki Heavy Industries Ltd
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Priority to JP2009277908A priority Critical patent/JP5391046B2/en
Application filed by Kawasaki Heavy Industries Ltd filed Critical Kawasaki Heavy Industries Ltd
Priority to US13/513,101 priority patent/US8528803B2/en
Priority to PCT/JP2010/007029 priority patent/WO2011070749A1/en
Priority to KR1020127013160A priority patent/KR101288475B1/en
Priority to EP10835676.7A priority patent/EP2511038B1/en
Priority to CN201080054865.6A priority patent/CN102665998B/en
Publication of JP2011115842A publication Critical patent/JP2011115842A/en
Priority to US13/957,504 priority patent/US8757470B2/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/123—Controlling or monitoring the welding process
    • B23K20/1235—Controlling or monitoring the welding process with temperature control during joining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/1205—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using translation movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/121—Control circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/1215—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding for other purposes than joining, e.g. built-up welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1225—Particular aspects of welding with a non-consumable tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/123—Controlling or monitoring the welding process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • B23K20/125—Rotary tool drive mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • B23K20/126—Workpiece support, i.e. backing or clamping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1265—Non-butt welded joints, e.g. overlap-joints, T-joints or spot welds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/127—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding friction stir welding involving a mechanical connection

Abstract

<P>PROBLEM TO BE SOLVED: To provide a friction stir welding apparatus which is provided with a welding tool, conducts friction stir welding of materials to be welded, and can monitor the temperature of the welding tool in welding, and to provide a managing method for the apparatus. <P>SOLUTION: In a friction stir welding apparatus 1, a to-be-detected point is determined on a backing member 21, which is brought into contact with the side opposite to a welding tool 4 set on a to-be-welded part 3 and supports the material 2 to be welded during the time of welding when the welding tool 4 moves while rotating and presses the to-be-welded part 3 of the material 2 to be welded. Further, the friction stir welding apparatus 1 includes: a thermocouple 34 and a temperature measuring instrument 35 (a temperature detecting means) for detecting the temperature of the to-be-detected point; a recording means for computing and recording the temperature of the welding tool 4 estimated from the temperature of the to-be-detected point detected based on a correlation, which is previously set, between the temperature of the welding tool 4 and that of the backing member 21; and a controlling means for executing predetermined treatments for preventing the welding tool 4 from being overheated, based on the temperature of the welding tool 4 estimated. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本発明は、複数の鋼製部材を接合するための摩擦攪拌接合装置及びその方法に関する。   The present invention relates to a friction stir welding apparatus and a method for joining a plurality of steel members.

従来、複数の鋼製部材を接合する方法として、摩擦攪拌接合（ＦＳＷ；Friction Stir Welding）が知られている。この摩擦攪拌接合は、接合ツールの先端に設けられた突起部を、接合させる部材の被接合部に回転させながら押し付けることによって、被接合部周辺を摩擦熱で軟化させることと、被接合部周辺の軟化した部分を攪拌して塑性流動させることと、被接合部を接合ツールから離して冷却させることとを行って、複数の鋼製部材を接合する方法である。   Conventionally, friction stir welding (FSW; Friction Stir Welding) is known as a method of joining a plurality of steel members. In this friction stir welding, the periphery of the welded part is softened by frictional heat by pressing the protrusion provided at the tip of the welding tool against the welded part of the member to be joined while rotating. This is a method of joining a plurality of steel members by stirring and softening the softened portion of the steel plate and cooling the welded portion away from the joining tool.

特許文献１及び特許文献２では、上記摩擦攪拌接合を利用してスポット接合を行う装置又は方法が開示されている。特許文献１では、被接合部に接合ツールを没入させる前にレーザー光で被接合部を軟化させて、接合ツールの突起部の摩耗を低減する摩擦攪拌装置が開示されている。また、特許文献２では、接合中の被接合部の温度に応じて接合ツールの動作制御を行って、複数の鋼製部材の被接合部が冷却時にマルテンサイト組織になることを抑制する摩擦攪拌接合方法が開示されている。この接合方法では、被接合部を介して接合ツールと反対側に配置されて接合ツールからの圧を受ける受け部材に、被接合部の温度を計測する温度センサを備えて、この温度センサで検出された被接合部の温度が金属組織がオーステナイトに変態するＡ３変態点以上になると、接合ツールの回転速度や押圧力などの加工条件を調整し、調整後、被接合部の温度が共析温度であるＡ１変態点以下になると、接合ツールを被接合部から引き抜くようにしている。   In Patent Document 1 and Patent Document 2, an apparatus or a method for performing spot welding using the friction stir welding is disclosed. Patent Document 1 discloses a friction stirrer that softens a welded part with laser light before immersing the welded tool in the welded part to reduce wear on the protrusions of the welded tool. Moreover, in patent document 2, the friction stirring which controls operation | movement of a joining tool according to the temperature of the to-be-joined part during joining, and suppresses that the to-be-joined part of several steel members becomes a martensitic structure at the time of cooling. A joining method is disclosed. In this joining method, a temperature sensor that measures the temperature of the joined portion is provided on a receiving member that is disposed on the opposite side of the joining tool via the joined portion and receives pressure from the joining tool, and is detected by this temperature sensor. When the temperature of the welded part is equal to or higher than the A3 transformation point at which the metal structure transforms to austenite, the processing conditions such as the rotation speed and pressing force of the welding tool are adjusted. When it is below the A1 transformation point, the joining tool is pulled out from the joined portion.

特開２００６−２１２１７号公報JP 2006-21217 A 特開２００８−７３６９４号公報JP 2008-73694 A

摩擦攪拌接合において、接合加工中に接合ツール（特に、突起部）が摩耗することにより、接合ツールの被接合部への没入が早まって、接合ツールが過剰に温度上昇することがある。接合ツールの温度が過剰に上昇すると、接合ツール自身の寿命が低下し、接合ツールの交換頻度が高くなり経済的ではない。また、摩耗しすぎた接合ツールを用いて接合加工を行うと、接合不良が生じることがある。このような不具合を解消するために、接合加工中の接合ツールの温度状況を管理することが望ましい。ところが、従来の摩擦攪拌接合装置において接合ツールの温度を直接的に検出するためには、接合ツールが回転することから、接合ツールに備えた温度検出手段と計測装置本体との間に高価な遠隔測定システムを構築する必要が生じる。さらに、摩擦攪拌接合装置の接合ツールは定期的に交換されるが、このようなメンテナンスのたびに接合ツールに備えた温度検出手段を付けたり外したりする作業を行わねばならない。また、特許文献２に記載されているように、接合ツールからの圧を受ける受け部材に被接合部の温度を計測する温度センサを設けて被接合部の温度を検出する構成とすれば、前述したような接合ツールに温度検出手段を設ける場合に生じる課題は発生しない。しかし、一般に接合時の被接合部の温度は接合ツールの温度よりも低く、この被接合部の温度がＡ３変態点（約９００℃）となれば接合ツールの実際の温度は１２００℃を超えていることが想定され、特許文献２に記載された摩擦接合方法では接合ツールの寿命の低下に繋がるおそれがある。   In the friction stir welding, the welding tool (particularly the protrusion) wears during the bonding process, so that the welding tool may be quickly immersed in the bonded portion, and the temperature of the welding tool may increase excessively. If the temperature of the welding tool is excessively increased, the life of the welding tool itself is reduced, and the replacement frequency of the welding tool is increased, which is not economical. In addition, when bonding is performed using a bonding tool that has been worn too much, bonding failure may occur. In order to solve such a problem, it is desirable to manage the temperature state of the joining tool during the joining process. However, in order to directly detect the temperature of the welding tool in the conventional friction stir welding apparatus, since the welding tool rotates, an expensive remote is required between the temperature detection means provided in the welding tool and the measuring device main body. A measurement system needs to be constructed. Furthermore, although the welding tool of the friction stir welding apparatus is periodically replaced, an operation of attaching or removing the temperature detection means provided to the welding tool must be performed every time such maintenance is performed. Further, as described in Patent Document 2, if a temperature sensor for measuring the temperature of the bonded portion is provided on the receiving member that receives the pressure from the bonding tool, the temperature of the bonded portion is detected. The problem which arises when providing a temperature detection means in such a joining tool does not generate | occur | produce. However, in general, the temperature of the bonded portion during bonding is lower than the temperature of the bonding tool. If the temperature of the bonded portion reaches the A3 transformation point (about 900 ° C.), the actual temperature of the bonding tool exceeds 1200 ° C. Therefore, the friction welding method described in Patent Document 2 may lead to a reduction in the life of the welding tool.

本発明は上記のような課題を解決するためになされたものであって、接合ツールを備えて被接合物の摩擦攪拌接合を行う摩擦攪拌接合装置及びその管理方法であって、接合ツールの寿命を無駄に低下させることのないように接合時に接合ツールの温度を監視するものを提供することを目的とする。   The present invention has been made to solve the above-described problems, and is a friction stir welding apparatus that includes a welding tool and performs friction stir welding of an object to be joined, and a management method thereof. An object of the present invention is to provide a device for monitoring the temperature of a welding tool at the time of joining so as not to wastefully reduce the temperature.

本発明に係る摩擦攪拌接合装置は、先端に被接合物の被接合部と接触する突起部を有する接合ツールと、前記接合ツールを軸周りに回転させる回転駆動手段と、前記接合ツールを軸線方向に移動させる移動手段と、前記接合ツールが回転しながら移動して前記被接合物の被接合部を押圧する接合時に、前記被接合部の前記接合ツールと反対側に当接して前記被接合物を支持する裏当て部材と、予め設定された加工条件に基づいて前記回転駆動手段及び前記移動手段の動作を制御する制御手段と、前記裏当て部材に設けた被検出点の温度を検出する温度検出手段と、前記被検出点の温度を取得し、予め設定された前記接合ツールの温度と前記裏当て部材の温度との相関関係に基づいて前記被検出点の温度から推定された接合ツールの温度を算出して記録する記録手段とを、備えているものである。   A friction stir welding apparatus according to the present invention includes a joining tool having a protrusion that contacts a joined portion of an object to be joined at a tip, a rotation driving unit that rotates the joining tool around an axis, and the joining tool in an axial direction. And a moving means for moving the bonding tool, and the bonding tool abutting on the opposite side of the bonding tool to the bonding tool during bonding in which the bonding tool moves while rotating and presses the bonded portion of the bonding object. A backing member that supports the control unit, a control unit that controls operations of the rotation driving unit and the moving unit based on preset processing conditions, and a temperature that detects a temperature of a detected point provided on the backing member. The temperature of the detected point is acquired from a detecting means and the temperature of the detected point based on the correlation between the preset temperature of the welding tool and the temperature of the backing member. Calculate temperature And recording means for recording Te, in which are provided.

同じく、本発明に係る摩擦攪拌接合方法は、裏当て部材で支持された被接合物の被接合部を、軸周りに回転する接合ツールで押圧することにより、発生した摩擦熱で前記被接合部を軟化させ、この軟化した部分に前記接合ツールの少なくとも一部を没入させて攪拌することにより、前記被接合部を固相状態で摩擦接合する摩擦攪拌接合方法であって、前記裏当て部材に設けた被検出点の温度を検出するステップと、予め設定された前記接合ツールの温度と前記裏当て部材の温度の相関関係に基づいて、検出された前記被検出点の温度から推定された接合ツールの温度を算出して記録するステップとを、含むものである。   Similarly, in the friction stir welding method according to the present invention, the bonded portion of the workpiece supported by the backing member is pressed by a welding tool that rotates around the axis, and the bonded portion is generated by the frictional heat generated. Is a friction stir welding method in which at least a part of the welding tool is immersed in the softened part and stirred to frictionally join the joined parts in a solid state, and is applied to the backing member. The step of detecting the temperature of the detected point provided, and the bonding estimated from the detected temperature of the detected point based on the correlation between the temperature of the bonding tool set in advance and the temperature of the backing member Calculating and recording the temperature of the tool.

上記によれば、接合時に接合ツールの裏当て部材に備えた温度検出手段で検出した温度から推定された接合ツールの温度を得て記録し、これを時系列に並べて分析することにより、接合ツールの温度状況を監視することができる。接合ツールの温度を監視することにより、接合ツールの過熱を知って、これを防止するための処置をとることが可能となる。さらに、接合時の接合ツールの温度の記録は、被接合物の各接合点の品質保証のために利用することができる。そして、接合ツールの温度を間接的に検出する温度検出手段は、回転する接合ツールではなく裏当て部材に設けられているので、装置における温度検出手段の配線が簡易であり、装置が複雑となったり巨大化したりすることがない。   According to the above, by obtaining and recording the temperature of the welding tool estimated from the temperature detected by the temperature detection means provided on the backing member of the welding tool during the bonding, and analyzing this in time series, Can monitor the temperature situation. By monitoring the temperature of the welding tool, it is possible to know when the welding tool is overheated and take steps to prevent it. Furthermore, the recording of the temperature of the bonding tool at the time of bonding can be used for quality assurance of each bonding point of the objects to be bonded. And since the temperature detection means for indirectly detecting the temperature of the welding tool is provided on the backing member instead of the rotating welding tool, the wiring of the temperature detection means in the apparatus is simple and the apparatus becomes complicated. And it doesn't become huge.

さらに、前記摩擦攪拌接合装置において、前記制御手段は、前記推定された接合ツールの温度が予め設定された上限温度に達すると、接合加工を強制的に終了させることがよい。同じく、前記摩擦攪拌接合方法において、前記推定された接合ツールの温度と予め設定された上限温度とを比較するステップと、前記推定された接合ツールの温度が前記上限温度に達すると、接合加工を強制的に終了するステップとを、更に含むことがよい。   Furthermore, in the friction stir welding apparatus, it is preferable that the control means forcibly terminates the joining process when the estimated temperature of the welding tool reaches a preset upper limit temperature. Similarly, in the friction stir welding method, the step of comparing the estimated temperature of the welding tool with a preset upper limit temperature, and when the estimated temperature of the welding tool reaches the upper limit temperature, bonding is performed. Forcibly terminating may be further included.

上記によれば、推定された接合ツールの温度が上限温度に達したときに、接合加工が強制終了されるので、接合ツールの過熱が未然に防止されて、接合ツールをその寿命を短縮させないように使用できる。また、接合ツールの過熱は、接合ツールの摩耗に起因するので、摩耗した接合ツールにより接合加工が行われて接合不良が生じることを防止できる。   According to the above, when the estimated temperature of the joining tool reaches the upper limit temperature, the joining process is forcibly terminated, so that the joining tool is prevented from overheating so that the life of the joining tool is not shortened. Can be used for In addition, since the overheating of the joining tool is caused by the wear of the joining tool, it is possible to prevent a joining failure from occurring due to joining processing performed by the worn joining tool.

或いは、前記摩擦攪拌接合装置において、前記制御手段は、前記推定された接合ツールの温度が予め設定された上限温度に達すると、前記接合ツールの温度が前記上限温度以下となるように接合加工時間、前記接合ツールの回転数、及び前記接合ツールの前記被接合部に対する押圧力のうちいずれか一つ又は複数の組み合わせを変化させることがよい。同じく、前記摩擦攪拌接合方法において、前記推定された接合ツールの温度と予め設定された上限温度とを比較するステップと、前記推定された接合ツールの温度が前記上限温度に達すると、前記接合ツールの温度が前記上限温度以下となるように接合加工時間、前記接合ツールの回転数、及び前記接合ツールの前記被接合部に対する押圧力のうちいずれか一つ又は複数の組み合わせを変化させるステップとを、更に含むことがよい。   Alternatively, in the friction stir welding apparatus, when the estimated temperature of the welding tool reaches a preset upper limit temperature, the control means performs a bonding processing time so that the temperature of the welding tool becomes equal to or lower than the upper limit temperature. It is preferable to change any one or a combination of the number of rotations of the joining tool and the pressing force of the joining tool against the joined portion. Similarly, in the friction stir welding method, the step of comparing the estimated temperature of the welding tool with a preset upper limit temperature, and when the estimated temperature of the welding tool reaches the upper limit temperature, the welding tool A step of changing any one or a combination of a bonding processing time, a rotation speed of the bonding tool, and a pressing force of the bonding tool against the bonded portion so that the temperature of the bonding tool is equal to or lower than the upper limit temperature. Further, it may be included.

上記によれば、接合ツールが上限温度を超えないように、接合加工の加工条件が調整されるので、接合ツールの過熱が未然に防止されて、接合ツールをその寿命を短縮させないように使用できる。   According to the above, since the processing conditions of the joining process are adjusted so that the joining tool does not exceed the upper limit temperature, overheating of the joining tool is prevented in advance, and the joining tool can be used so as not to shorten its life. .

また、前記摩擦攪拌接合装置において、前記記録手段は、接合加工を開始してから前記推定された接合ツールの温度がピークに達するまでのピーク温度到達時間を計測し、前記制御手段は、前記ピーク温度到達時間が予め設定された正常値の範囲から外れるときは、接合加工を強制的に終了させることがよい。同じく、前記摩擦攪拌接合方法において、接合加工を開始してから前記推定された接合ツールの温度がピークに達するまでのピーク温度到達時間を計測するステップと、前記ピーク温度到達時間が予め設定された正常値の範囲から外れるときは、接合加工を強制的に終了するステップとを、更に含むことがよい。   In the friction stir welding apparatus, the recording means measures a peak temperature arrival time from the start of joining processing until the estimated temperature of the joining tool reaches a peak, and the control means includes the peak When the temperature reaching time is out of the preset normal value range, it is preferable to forcibly terminate the joining process. Similarly, in the friction stir welding method, a step of measuring a peak temperature arrival time from the start of welding processing until the estimated temperature of the welding tool reaches a peak, and the peak temperature arrival time are preset. It is preferable to further include a step of forcibly terminating the joining process when the value falls outside the normal value range.

上記において、ピーク温度到達時間が正常値の範囲から外れるとき（特に、短いとき）は、接合ツールの摩耗により没入が早まることが想定される。このようなときに、接合加工が強制終了されることで、接合ツールの過熱が未然に防止され、さらに、摩耗した接合ツールにより接合加工が行われて接合不良が生じることを防止できる。   In the above, when the peak temperature arrival time deviates from the normal value range (particularly when it is short), it is assumed that the immersion is accelerated due to wear of the joining tool. In such a case, the joining process is forcibly terminated, so that overheating of the joining tool is prevented in advance, and further, it is possible to prevent the joining process from being performed by the worn joining tool and causing a joining failure.

また、前記摩擦攪拌接合装置において、前記被検出点は、前記接合ツールの回転軸の延長線上に配置されていることがよい。さらに、前記摩擦攪拌接合装置において、前記被検出点は、前記裏当て部材の内部であって前記裏当て部材の前記被接合物と当接する面から０．３〜０．５ｍｍ離れたところに位置していることがよい。これにより、温度検出手段と接合ツールとを直接干渉させることがなく、且つ、温度検出手段で接合ツールの温度の変化をより精確に捉えることができる。   In the friction stir welding apparatus, the detected point may be arranged on an extension line of a rotation axis of the welding tool. Furthermore, in the friction stir welding apparatus, the detected point is located within the backing member at a position 0.3 to 0.5 mm away from the surface of the backing member that contacts the workpiece. It is good to have. Thereby, the temperature detection means and the welding tool do not directly interfere with each other, and the temperature change of the welding tool can be captured more accurately by the temperature detection means.

本発明によれば、摩擦攪拌接合において、接合時に接合ツールの裏当て部材に備えた温度検出手段で検出した温度から推定された接合ツールの温度を記録して、接合ツールの温度変化を監視することができる。接合ツールの温度変化を監視することにより、接合ツールの温度状況を知って、接合ツールの過熱を防止するための処置をとることができ、ひいては、接合不良の発生防止を図ることができる。さらに、得られた接合ツールの温度変化に関する情報を被接合物の各接合点の品質を保証するために用いることができる。   According to the present invention, in friction stir welding, the temperature of the welding tool is recorded by recording the temperature of the welding tool estimated from the temperature detected by the temperature detecting means provided in the backing member of the welding tool during the welding. be able to. By monitoring the temperature change of the welding tool, it is possible to know the temperature status of the welding tool and take measures to prevent overheating of the welding tool, thereby preventing the occurrence of bonding failure. Furthermore, the information regarding the temperature change of the obtained joining tool can be used to guarantee the quality of each joining point of the objects to be joined.

本発明の実施の形態に係る摩擦攪拌接合装置の全体的な概略構成を示した図である。It is the figure which showed the whole schematic structure of the friction stir welding apparatus which concerns on embodiment of this invention. 接合時の接合ツールと支持具との様子を示す一部断面図である。It is a partial cross section figure which shows the mode of the joining tool and support tool at the time of joining. 接合時の接合ツールのピン部と裏当て部材の裏当て部との温度の関係を示す図表である。It is a graph which shows the relationship of the temperature of the pin part of the joining tool at the time of joining, and the backing part of a backing member. 制御装置の処理の流れを説明するフローチャートである。It is a flowchart explaining the flow of a process of a control apparatus. 接合時の接合ツールのピン部の温度の時間変化を示す図表である。It is a graph which shows the time change of the temperature of the pin part of the joining tool at the time of joining.

以下、本発明を実施するための形態について、図面を参照しながら詳細に説明する。なお、以下では全ての図を通じて同一又は相当する要素には同一の参照符号を付して、その重複説明を省略する。   Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.

（摩擦攪拌接合装置１の構成）
図１に示すように、本実施の形態に係る摩擦攪拌接合装置１は、軸周りに回転する接合ツール４を備えており、この接合ツール４を被接合物２の被接合部３に回転させながら押し付けて、被接合部３及びその周辺を摩擦熱によって軟化させ、軟化した被接合部３へ接合ツール４の一部を没入させ、接合ツール４の回転により軟化した被接合部３及びその周辺を攪拌して塑性流動させるように構成されている。この被接合部３が冷却されて硬化すると、被接合物２の被接合部３は固相接合された接合部となる。なお、被接合物２は、摩擦攪拌接合により接合可能な材料からなる複数の物であって、本実施の形態において、被接合物２は重ね合わされた２枚の鋼板２ａ，２ｂである。 (Configuration of friction stir welding apparatus 1)
As shown in FIG. 1, the friction stir welding apparatus 1 according to the present embodiment includes a welding tool 4 that rotates around an axis, and rotates the welding tool 4 to a bonded portion 3 of a workpiece 2. The welded part 3 and its periphery are softened by frictional heat, a part of the welding tool 4 is immersed in the softened welded part 3, and the welded part 3 softened by the rotation of the welding tool 4 and its periphery Is agitated to cause plastic flow. When the bonded portion 3 is cooled and hardened, the bonded portion 3 of the bonded object 2 becomes a bonded portion solid-phase bonded. In addition, the to-be-joined object 2 is a several thing which consists of a material which can be joined by friction stir welding, Comprising: In this Embodiment, the to-be-joined object 2 is the two steel plates 2a and 2b piled up.

摩擦攪拌接合装置１は、基体１２と、基体１２に対して軸線Ｌ１方向に往復移動可能に設けられた移動体１５と、移動体１５の下端部に設けられたツール保持体１６と、ツール保持体１６の下端部に回転可能に設けられた回転ロッド１７と、回転ロッド１７に着脱可能に設けられた接合ツール４とを備えている。接合ツール４は、例えば、窒化ケイ素などの硬質セラミックスで構成されている。接合ツール４は、回転ロッド１７に対して着脱可能に取り付けられており、接合ツール４が摩耗したときには、新しい接合ツール４と交換できるようになっている。なお、この接合ツール４に向けて不活性ガスを供給する不活性ガス供給手段を、摩擦攪拌接合装置１に備えることもできる。   The friction stir welding apparatus 1 includes a base 12, a moving body 15 provided so as to be capable of reciprocating in the direction of the axis L <b> 1 with respect to the base 12, a tool holder 16 provided at a lower end portion of the moving body 15, and a tool holding A rotating rod 17 provided rotatably at the lower end of the body 16 and a joining tool 4 provided detachably on the rotating rod 17 are provided. The joining tool 4 is made of hard ceramics such as silicon nitride, for example. The joining tool 4 is detachably attached to the rotating rod 17, and can be replaced with a new joining tool 4 when the joining tool 4 is worn. Note that the friction stir welding apparatus 1 can also be provided with an inert gas supply means for supplying an inert gas toward the welding tool 4.

摩擦攪拌接合装置１は、被接合物２の被接合部３に対して接合ツール４を接合加工に好適な位置へ移動させるために、例えば、多関節ロボット７のロボットアーム８の手首９に取り付けて使用される。摩擦攪拌接合装置１は、この装置を多関節ロボット７のロボットアーム８の手首９に着脱可能に取り付けるための接続フレーム１１と、支持台２０を下端部に設けた屈曲アーム１９とを、基体１２に固定して備えている。屈曲アーム１９は略Ｌ字状に屈曲した形状を有し、その上端部は基体１２に固定され、その下端部は接合ツール４の下方まで持ち出されて、そこに支持台２０が設けられている。支持台２０は、接合ツール４の回転軸（軸線Ｌ２）の延長線上に裏当て部材２１を備えている。   The friction stir welding apparatus 1 is attached to, for example, the wrist 9 of the robot arm 8 of the multi-joint robot 7 in order to move the welding tool 4 to a position suitable for the bonding process with respect to the bonded portion 3 of the workpiece 2. Used. The friction stir welding apparatus 1 includes a connection frame 11 for detachably attaching the apparatus to a wrist 9 of a robot arm 8 of an articulated robot 7 and a bending arm 19 provided with a support base 20 at a lower end portion. It is fixed and equipped. The bending arm 19 has a shape bent in a substantially L shape, and its upper end is fixed to the base 12, and its lower end is taken out below the welding tool 4, and a support base 20 is provided there. . The support table 20 includes a backing member 21 on an extension line of the rotation axis (axis line L2) of the welding tool 4.

また、摩擦攪拌接合装置１は、基体１２に内装されて移動体１５を軸線Ｌ１方向に往復移動させる直線移動駆動部１３（移動手段）と、移動体１５に内装されて回転ロッド１７を軸線Ｌ２を回転軸としてこの軸線Ｌ２まわりに回転させる回転駆動部１４（回転駆動手段）とを、備えている。なお、軸線Ｌ１と軸線Ｌ２とは、略平行の関係にある。直線移動駆動部１３は、サーボモータと、このサーボモータの回転力を軸線Ｌ１に沿う直線移動力として移動体１５へ伝達する動力伝達手段とを、備えている。一方、回転駆動部１４は、サーボモータと、このサーボモータの回転力を軸線Ｌ２まわりの回転として回転ロッド１７へ伝達する回転用動力伝達手段とを、備えている。   The friction stir welding apparatus 1 includes a linear movement drive unit 13 (moving means) that is housed in the base 12 and reciprocally moves the moving body 15 in the direction of the axis L1, and a rotating rod 17 that is housed in the moving body 15 and moves the axis L2. And a rotation drive unit 14 (rotation drive means) for rotating around the axis L2. Note that the axis L1 and the axis L2 are in a substantially parallel relationship. The linear movement drive unit 13 includes a servo motor and power transmission means for transmitting the rotational force of the servo motor to the moving body 15 as a linear moving force along the axis L1. On the other hand, the rotation drive unit 14 includes a servo motor and a rotation power transmission unit that transmits the rotation force of the servo motor to the rotation rod 17 as rotation about the axis L2.

さらに、摩擦攪拌接合装置１は、多関節ロボット７、直線移動駆動部１３及び回転駆動部１４に電気的に接続されてこれらの動作を制御する制御手段として機能する制御装置２２を備えている。後述するが、この制御装置２２は、摩擦攪拌接合装置１の動作を制御する制御手段として機能するだけでなく、接合ツール４の温度状況を記録する記録手段としても機能する。   Furthermore, the friction stir welding apparatus 1 includes a control device 22 that is electrically connected to the articulated robot 7, the linear movement drive unit 13, and the rotation drive unit 14 and functions as a control unit that controls these operations. As will be described later, the control device 22 not only functions as a control unit that controls the operation of the friction stir welding apparatus 1 but also functions as a recording unit that records the temperature state of the welding tool 4.

制御装置２２は、動作プログラムが記憶された記憶部、演算部、制御部、及び入出力部などを備えている。そして、制御装置２２は、コンピュータ又はティーチングペンダントなどの図示しない入力装置から入力された指令に応答して、予め設定された動作プログラムを実行し、多関節ロボット７、直線移動駆動部１３、及び回転駆動部１４を所定の加工条件に従って制御して、裏当て部材２１上に供給された被接合物２を点接合するように構成されている。上記において所定の加工条件には、例えば、接合ツール４の回転速度、被接合部３への没入量、接合加工時間（没入時間）、及び押圧力などが含まれる。   The control device 22 includes a storage unit in which an operation program is stored, a calculation unit, a control unit, an input / output unit, and the like. Then, the control device 22 executes a preset operation program in response to a command input from an input device (not shown) such as a computer or teaching pendant, and the articulated robot 7, the linear movement drive unit 13, and the rotation The drive unit 14 is controlled according to predetermined processing conditions, and the workpiece 2 supplied on the backing member 21 is spot-joined. In the above, the predetermined processing conditions include, for example, the rotational speed of the welding tool 4, the amount of immersion in the welded portion 3, the bonding processing time (immersion time), and the pressing force.

ここで、裏当て部材２１について詳細に説明する。裏当て部材２１は、接合時に接合ツール４が回転しながら移動して被接合物２の被接合部３を押圧するときに、被接合部３の接合ツール４と反対側に当接して、接合ツール４から圧を受ける被接合物２を支持するものである。図２にも示すように、裏当て部材２１は、略円柱状の裏当て部３１と、裏当て部３１をその上部を露出させた状態で収容するホルダ部３２とで構成されている。なお、裏当て部材２１の少なくとも裏当て部３１は、窒化ケイ素等の硬質セラミックスで構成されている。裏当て部材２１において、裏当て部３１のホルダ部３２から露出した一端面は、接合ツール４のピン部４８と対峙するように配置され、この一端面が被接合物２の被接合部３と接触することとなる。以下では、裏当て部３１の被接合物２の被接合部３と接触する一端面を「上面」とし、この上面と反対側の端面を「底面」という。   Here, the backing member 21 will be described in detail. The backing member 21 abuts on the opposite side to the joining tool 4 of the joined part 3 when the joining tool 4 moves while rotating and presses the joined part 3 of the article 2 to be joined. The object to be joined 2 that receives pressure from the tool 4 is supported. As shown in FIG. 2, the backing member 21 includes a substantially columnar backing part 31 and a holder part 32 that accommodates the backing part 31 with its upper part exposed. Note that at least the backing portion 31 of the backing member 21 is made of a hard ceramic such as silicon nitride. In the backing member 21, one end surface exposed from the holder portion 32 of the backing portion 31 is disposed so as to face the pin portion 48 of the joining tool 4, and this one end surface is connected to the joined portion 3 of the article 2 to be joined. It will come into contact. In the following, one end surface of the backing portion 31 that comes into contact with the bonded portion 3 of the workpiece 2 is referred to as an “upper surface”, and an end surface opposite to the upper surface is referred to as a “bottom surface”.

裏当て部３１には、底面に開口する直径２．０ｍｍ程度の検出用穴３１ａが形成されている。検出用穴３１ａは、接合ツール４の回転軸（軸線Ｌ２）の延長線上に配置され、検出用穴３１ａの穴底は、裏当て部３１の上面から０．３〜０．５ｍｍ程度離れた場所に位置している。検出用穴３１ａの穴底には、例えば、アルミニウムなどの熱・電気の良導体から構成された均熱材３３が敷き詰められている。この均熱材３３には、熱電対３４の検出点３４ａが接続されている。このように、熱電対３４の検出点３４ａは、被接合部３や接合ツール４と直接接触して干渉しないように、裏当て部材２１内に配置されている。熱電対３４は、温度測定器３５に接続されており、この温度測定器３５は、電圧計を備えて熱電対３４の冷接点と検出点３４ａとに生じた熱起電力から検出点３４ａで検出した被検出点の温度を測定するように構成されている。つまり、この熱電対３４と、温度測定器３５とは、裏当て部材２１内の被検出点の温度を検出する温度検出手段として機能する。ここで、被検出点は、熱電対３４の検出点３４ａが接触している裏当て部材２１の検出用穴３１ａの穴底である。さらに、温度測定器３５は制御装置２２と電気的に接続されており、温度測定器３５で得られた温度情報を制御装置２２へ送信できるように構成されている。   The backing portion 31 is formed with a detection hole 31a having a diameter of about 2.0 mm that opens on the bottom surface. The detection hole 31a is disposed on an extension line of the rotation axis (axis L2) of the welding tool 4, and the bottom of the detection hole 31a is located about 0.3 to 0.5 mm away from the upper surface of the backing portion 31. Is located. On the bottom of the detection hole 31a, for example, a soaking material 33 made of a good heat / electric conductor such as aluminum is spread. A detection point 34 a of a thermocouple 34 is connected to the soaking material 33. As described above, the detection point 34a of the thermocouple 34 is arranged in the backing member 21 so as not to directly contact and interfere with the bonded portion 3 and the bonding tool 4. The thermocouple 34 is connected to a temperature measuring device 35. The temperature measuring device 35 includes a voltmeter, and is detected at a detection point 34a from a thermoelectromotive force generated at the cold junction of the thermocouple 34 and the detection point 34a. The temperature of the detected point is measured. That is, the thermocouple 34 and the temperature measuring device 35 function as temperature detecting means for detecting the temperature of the detected point in the backing member 21. Here, the detected point is the bottom of the detection hole 31a of the backing member 21 with which the detection point 34a of the thermocouple 34 is in contact. Further, the temperature measuring device 35 is electrically connected to the control device 22, and is configured to transmit temperature information obtained by the temperature measuring device 35 to the control device 22.

上述のように、摩擦攪拌接合装置１は、接合ツール４から圧を受ける被接合物２を支持する裏当て部材２１の裏当て部３１に温度検出手段の被検出点を備えて、接合ツール４の温度を間接的に検出できるようにしている。接合ツール４の温度は、それよりも低温の裏当て部材２１の裏当て部３１で間接的に検出されることから、例えば、クロメル−アルメル熱電対（Ｋ熱電対）程度の比較的安価で入手が容易な検出体を利用した温度検出手段を採用することが可能である。そして、熱電対３４の検出点３４ａは、接合ツール４の温度の変化をより精確に捉えるために、接合ツール４の回転軸（軸線Ｌ２）の延長線上に配置されるが、多少のずれが発生してもよいように、均熱材３３を備えて点よりも広い範囲で温度を検出できるようにしている。   As described above, the friction stir welding apparatus 1 includes the detection point of the temperature detection means in the backing portion 31 of the backing member 21 that supports the workpiece 2 that receives pressure from the welding tool 4, and the welding tool 4. The temperature can be detected indirectly. Since the temperature of the welding tool 4 is indirectly detected by the backing portion 31 of the backing member 21 having a temperature lower than that, it is obtained at a relatively low cost such as a chromel-alumel thermocouple (K thermocouple). It is possible to employ a temperature detection means using a detection body that is easy to detect. The detection point 34a of the thermocouple 34 is arranged on an extension line of the rotation axis (axis line L2) of the welding tool 4 in order to capture the change in temperature of the welding tool 4 more accurately. As is possible, the temperature equalizing material 33 is provided so that the temperature can be detected in a wider range than the point.

また、回転する接合ツール４ではなく、基体１２に対して相対位置固定された裏当て部材２１の裏当て部３１に被検出点を設けることで、熱電対３４と温度測定器３５とを有線配線できるので配線構造が簡易となる。従って、熱電対３４と温度測定器３５とを摩擦攪拌接合装置１に付帯することによるボリュームや重量の著しい増加はない。さらに、裏当て部３１は接合ツール４と比較して交換頻度が低いので、装置のメンテナンスのたびに裏当て部材２１を解体して熱電対３４を配線し直すなどの煩雑な作業は不要である。   In addition, the detection point is provided on the backing portion 31 of the backing member 21 that is fixed relative to the base body 12 instead of the rotating joining tool 4, so that the thermocouple 34 and the temperature measuring device 35 are wired. As a result, the wiring structure is simplified. Accordingly, there is no significant increase in volume or weight due to the attachment of the thermocouple 34 and the temperature measuring device 35 to the friction stir welding apparatus 1. Furthermore, since the backing portion 31 is less frequently replaced than the joining tool 4, complicated work such as disassembling the backing member 21 and rewiring the thermocouple 34 each time the apparatus is maintained is unnecessary. .

（摩擦攪拌接合装置１による接合加工の流れ）
ここで、上記構成の摩擦攪拌接合装置１による接合加工の流れを説明する。接合加工を行うに際して、接合される鋼板２ａ，２ｂの材質、板厚などに基づき、制御装置２２に加工条件が設定される。この加工条件には、接合ツール４の目標回転数、押圧力、最大押込み量などが含まれる。また、被接合物２は、その被接合部３が裏当て部材２１の裏当て部３１の上面と当接するように位置決めされる。 (Flow of joining process by friction stir welding apparatus 1)
Here, the flow of joining processing by the friction stir welding apparatus 1 having the above configuration will be described. When performing the joining process, the machining conditions are set in the control device 22 based on the material and thickness of the steel plates 2a and 2b to be joined. The processing conditions include a target rotation speed, pressing force, maximum pressing amount, and the like of the welding tool 4. In addition, the workpiece 2 is positioned so that the bonded portion 3 comes into contact with the upper surface of the backing portion 31 of the backing member 21.

制御装置２２は、接合加工を開始すると、まず、回転駆動部１４に、回転ロッド１７と接合ツール４とを一体的に回転させる。接合ツール４の回転数が目標回転数となったところで、制御装置２２は、直線移動駆動部１３に、接合ツール４を、そのピン部４８が被接合物２の被接合部３に当接するまで軸線Ｌ１に沿って移動させる。これにより、被接合物２の被接合部３は、接合ツール４のピン部４８と裏当て部材２１の裏当て部３１とで挟み込まれて加圧されるとともに、回転するピン部４８との間で発生する摩擦熱により加熱される。やがて、被接合物２の被接合部３及びその周辺は、摩擦熱により軟化する。   When the joining process is started, the control device 22 first rotates the rotating rod 17 and the joining tool 4 integrally with the rotation driving unit 14. When the number of rotations of the welding tool 4 reaches the target number of rotations, the control device 22 causes the linear movement driving unit 13 to contact the welding tool 4 until the pin portion 48 contacts the bonded portion 3 of the workpiece 2. Move along the axis L1. As a result, the bonded portion 3 of the workpiece 2 is sandwiched and pressed between the pin portion 48 of the bonding tool 4 and the backing portion 31 of the backing member 21, and between the rotating pin portion 48. It is heated by the frictional heat generated in Eventually, the bonded portion 3 of the workpiece 2 and its periphery are softened by frictional heat.

そして、接合ツール４の回転及び押圧を更に継続すると、接合ツール４のピン部４８は、軟化した被接合部３に所定量だけ没入してその周りを攪拌する。これにより、被接合物２の被接合部３に塑性流動が生じる。制御装置２２は、所定の接合加工時間（ピン部４８の没入時間）が経過した後、回転駆動部１４に、接合ツール４を逆回転させ、直線移動駆動部１３に、接合ツール４を被接合物２の被接合部３から引き抜く方向へ移動させる。接合ツール４が被接合物２の被接合部３から引き抜かれると、被接合物２は冷却されて硬化し、被接合部３の接合が完了する。   Then, when the rotation and pressing of the welding tool 4 are further continued, the pin portion 48 of the welding tool 4 is immersed in the softened welded portion 3 by a predetermined amount and agitates the periphery thereof. As a result, plastic flow occurs in the bonded portion 3 of the workpiece 2. The control device 22 causes the rotation driving unit 14 to reversely rotate the bonding tool 4 after a predetermined bonding processing time (immersion time of the pin portion 48) has elapsed, and causes the linear movement driving unit 13 to bond the bonding tool 4 to be bonded. The object 2 is moved in the direction of being pulled out from the bonded part 3. When the welding tool 4 is pulled out from the bonded portion 3 of the bonded object 2, the bonded object 2 is cooled and hardened, and the bonding of the bonded portion 3 is completed.

上述した摩擦攪拌接合装置１による接合加工中に、摩擦攪拌接合装置１では、所定のプログラムを実行することにより接合ツール４の記録手段として機能する制御装置２２により接合ツール４の温度変化が記録されて監視されている。なお、本実施の形態では、制御装置２２は、制御手段及び記録手段としての機能を併せ持っているが、これらはそれぞれ独立した装置として構成することもできる。   During the joining process by the friction stir welding apparatus 1 described above, in the friction stir welding apparatus 1, the temperature change of the welding tool 4 is recorded by the control device 22 that functions as a recording unit of the welding tool 4 by executing a predetermined program. Are being monitored. In the present embodiment, the control device 22 has both functions as a control means and a recording means, but these can also be configured as independent devices.

図３は接合時の接合ツールのピン部と裏当て部材の裏当て部との温度の関係を示す図表であって、縦軸に温度をとり横軸に接合加工時間をとり、接合ツール４のピン部４８の温度を菱形印で、裏当て部材２１の裏当て部３１の温度を四角形印でそれぞれ示している。なお、この図表は、実験により、接合時に被接合物２の被接合部３から接合ツール４のピン部４８を抜き出した直後のピン部４８の温度と、裏当て部材２１の裏当て部３１の温度とを、放射温度計で計測して得られたデータで作成されている。図３に示されるように、接合ツール４のピン部４８の温度と裏当て部材２１の裏当て部３１の温度とは、相関関係を有していることから、裏当て部材２１の裏当て部３１の温度を検出することにより、接合時の接合ツール４のピン部４８の温度を推定できることがわかる。この接合ツール４のピン部４８の温度と裏当て部材２１の裏当て部３１の温度との相関関係は、被接合物２ごとに実験やシミュレーション等により求められて、式又はテーブルとして制御装置２２に予め利用可能に格納されている。   FIG. 3 is a chart showing the temperature relationship between the pin part of the joining tool and the backing part of the backing member during joining. The temperature is plotted on the vertical axis and the bonding processing time is plotted on the horizontal axis. The temperature of the pin part 48 is indicated by rhombus marks, and the temperature of the backing part 31 of the backing member 21 is indicated by square marks. This chart shows the temperature of the pin part 48 immediately after the pin part 48 of the joining tool 4 is extracted from the joined part 3 of the article 2 to be joined at the time of joining and the backing part 31 of the backing member 21 by experiment. The temperature is created from data obtained by measuring with a radiation thermometer. As shown in FIG. 3, the temperature of the pin portion 48 of the joining tool 4 and the temperature of the backing portion 31 of the backing member 21 have a correlation, and therefore the backing portion of the backing member 21. It can be seen that the temperature of the pin portion 48 of the joining tool 4 at the time of joining can be estimated by detecting the temperature of 31. The correlation between the temperature of the pin portion 48 of the welding tool 4 and the temperature of the backing portion 31 of the backing member 21 is obtained for each object 2 by experiment, simulation, etc. Are stored in advance so that they can be used.

図４は制御装置の処理の流れを説明するフローチャートである。図４に示すように、記録手段として機能する制御装置２２は、接合加工中に、熱電対３４及び温度測定器３５で検出された温度情報、即ち、裏当て部材２１の裏当て部３１の温度情報を取得して（ステップＳ１）、接合ツール４のピン部４８の温度と裏当て部材２１の裏当て部３１の温度との相関関係に基づいて、推定された接合ツール４の温度を演算により算出し（ステップＳ２）、これを記録する（ステップＳ３）。記録された各接合点における推定された接合ツール４の温度は、被接合物２の各接合点の保証のために利用することができる。   FIG. 4 is a flowchart for explaining the flow of processing of the control device. As shown in FIG. 4, the control device 22 functioning as a recording unit has temperature information detected by the thermocouple 34 and the temperature measuring device 35 during the bonding process, that is, the temperature of the backing portion 31 of the backing member 21. Information is acquired (step S1), and the estimated temperature of the welding tool 4 is calculated based on the correlation between the temperature of the pin portion 48 of the welding tool 4 and the temperature of the backing portion 31 of the backing member 21. Calculate (step S2) and record this (step S3). The estimated temperature of the welding tool 4 at each recorded joint point can be used to guarantee each joint point of the workpiece 2.

さらに、以下に示すように、記録手段として機能する制御装置２２は、接合時に所定時間ごとに推定された接合ツール４の温度を取得して記録し、これを時系列に並べて、接合ツール４の温度変化を監視する。   Furthermore, as will be described below, the control device 22 functioning as a recording unit acquires and records the temperature of the welding tool 4 estimated every predetermined time at the time of bonding, arranges this in time series, and Monitor temperature changes.

接合加工中の接合ツール４の温度は摩擦により上昇するが、その温度が異常なまで上昇すると接合ツール４は過熱によって寿命が短縮化されるので、接合ツール４の交換頻度が高くなり、経済的ではない。そこで、制御装置２２は、推定された接合ツール４の温度と所定の上限温度とを比較し（ステップＳ４）、推定された接合ツール４の温度が所定の上限温度に到達すると（ステップＳ５のＹＥＳ）、警告を発するとともに（ステップＳ６）、接合ツール４を過熱させないための所定の処置を実行する（ステップＳ７）ように構成されている。なお、所定の上限温度は、接合ツール４に応じて適宜定められて制御装置２２に予め利用可能に格納されている。例えば、本実施の形態に係る接合ツール４は、窒化ケイ素を含んで構成されているので、接合ツール４の寿命を無駄に低下させることのない上限温度は約８５０℃に設定されている。   The temperature of the welding tool 4 during the joining process rises due to friction, but when the temperature rises to an abnormal level, the life of the welding tool 4 is shortened due to overheating. is not. Therefore, the control device 22 compares the estimated temperature of the welding tool 4 with a predetermined upper limit temperature (step S4), and when the estimated temperature of the welding tool 4 reaches the predetermined upper limit temperature (YES in step S5). ), A warning is issued (step S6), and a predetermined treatment for preventing overheating of the welding tool 4 is executed (step S7). The predetermined upper limit temperature is appropriately determined according to the welding tool 4 and stored in the control device 22 so as to be usable in advance. For example, since the joining tool 4 according to the present embodiment is configured to include silicon nitride, the upper limit temperature that does not unnecessarily reduce the life of the joining tool 4 is set to about 850 ° C.

上記において、接合ツール４を過熱させないための所定の処置とは、例えば、接合加工を強制的に終了させる処置、又は、加工条件を適宜調整する処置のいずれか一方のことであり、制御手段として機能する制御装置２２によって行われる。加工条件を適宜調整する処置には、例えば、直線移動駆動部１３の出力を調整して押圧力を加減する処置、回転駆動部１４の出力を調整して接合ツール４の回転速度（回転数）を加減する処置、及び接合加工時間（接合ツール４の没入時間）を加減する処置のいずれか一つ又は複数の組み合わせが含まれる。   In the above, the predetermined treatment for preventing the welding tool 4 from being overheated is, for example, either one of the treatment for forcibly terminating the joining processing or the treatment for appropriately adjusting the machining conditions, and the control means This is done by the functioning controller 22. Examples of the treatment for appropriately adjusting the processing conditions include a treatment for adjusting the output of the linear movement drive unit 13 to adjust the pressing force, and a rotation speed (number of rotations) of the welding tool 4 by adjusting the output of the rotation drive unit 14. Any one or a combination of a treatment for adjusting and a treatment for adjusting the joining processing time (immersion time of the joining tool 4) is included.

このように、推定された接合ツール４の温度が上限温度に達したときに、接合加工が強制終了される或いは接合ツール４が上限温度を超えないように接合加工の加工条件が調整されるので、接合ツール４の過熱が未然に防止されて、接合ツール４をその寿命を短縮させないように使用することができる。さらに、接合ツール４の過熱は、接合ツール４の摩耗による摩擦面積増大に起因するので、摩耗した接合ツール４により接合加工が行われて接合不良が生じることを防止できる。   As described above, when the estimated temperature of the welding tool 4 reaches the upper limit temperature, the bonding process is forcibly terminated or the bonding process conditions are adjusted so that the bonding tool 4 does not exceed the upper limit temperature. The overheating of the joining tool 4 is prevented in advance, and the joining tool 4 can be used so as not to shorten its life. Furthermore, since the overheating of the welding tool 4 is caused by an increase in the friction area due to the wear of the welding tool 4, it is possible to prevent a bonding failure from occurring due to the bonding process performed by the worn welding tool 4.

一方で、接合ツール４のピン部４８が摩耗すると、接合加工により得られた被接合物２の接合部の接合強度が十分でないことがあり、従って、接合ツール４が許容できないまでに摩耗したときには、接合ツール４を交換せねばならない。   On the other hand, if the pin portion 48 of the welding tool 4 is worn, the bonding strength of the bonding portion of the workpiece 2 obtained by the bonding process may not be sufficient. Therefore, when the bonding tool 4 is worn to an unacceptable level. The welding tool 4 must be replaced.

図５は接合時の接合ツールの温度の時間変化を示す図表であって、縦軸に接合ツールの温度をとり横軸に接合加工時間をとり、摩擦が正常時の接合ツールの温度変化を実線で示し、摩擦か過剰時の接合ツールの温度変化を二点鎖線で示している。図５に示されるように、接合ツール４が摩耗して摩擦面積が過剰に増大している場合には、摩擦が正常であるときと比較して早い接合加工時間で、所定のピーク温度に到達する。この特徴を利用して、制御装置２２は、接合時に推定された接合ツール４の温度が所定のピーク温度に達するピーク温度到達時間を測定し、このピーク温度到達時間が所定の正常値の範囲から外れるときには、警告を発するとともに、接合加工を強制的に終了させる処置を採るように構成されている。   FIG. 5 is a chart showing the temporal change in the temperature of the welding tool during welding, where the vertical axis represents the welding tool temperature and the horizontal axis represents the welding time, and the solid line represents the temperature change of the welding tool when the friction is normal. The temperature change of the welding tool when friction or excess is indicated by a two-dot chain line. As shown in FIG. 5, when the welding tool 4 is worn and the friction area is excessively increased, the predetermined peak temperature is reached in a faster bonding time than when the friction is normal. To do. Using this feature, the control device 22 measures the peak temperature arrival time at which the temperature of the welding tool 4 estimated at the time of joining reaches a predetermined peak temperature, and the peak temperature arrival time is within a predetermined normal value range. When it comes off, a warning is issued and a process for forcibly terminating the joining process is taken.

このように、ピーク温度到達時間が正常値の範囲から外れるとき（特に、短いとき）は、接合ツール４の摩耗により接合ツール４の被接合部３への没入が早まることが想定されるので、接合加工が強制終了されることで、接合ツール４の過熱が未然に防止され、さらに、摩耗した接合ツール４により接合加工が行われて接合不良が生じることを防止できる。   Thus, when the peak temperature arrival time deviates from the normal value range (particularly when it is short), it is assumed that the welding tool 4 wears into the bonded portion 3 earlier due to wear of the welding tool 4. By forcibly terminating the joining process, overheating of the joining tool 4 can be prevented in advance, and further, it can be prevented that the joining process is performed by the worn joining tool 4 to cause a joining failure.

（その他の実施形態）
なお、上記実施形態では、摩擦攪拌接合装置１を、重ね合わせた２枚の鋼板２ａ，２ｂをスポット接合するために用いているが、これに限らず、被接合物２は、重ね合わせた２枚の鋼板２ａ，２ｂに限定されず、被接合物２を重ね合わせた３枚以上の鋼板としてもよい。さらに、この摩擦攪拌接合装置１はスポット接合に限らず、例えば、２枚の鋼板をつきあわせて接合する場合にも適用させることができる。この場合、線状に延びる接合部分を裏当て部材２１で裏当てし、この裏当て部材２１の全長にわたって温度計測可能に温度検出手段を設けて、この温度検出手段で間接的に検出された接合ツール４の温度に基づいて接合ツール４の制御を行うようにすればよい。 (Other embodiments)
In addition, in the said embodiment, although the friction stir welding apparatus 1 is used in order to carry out the spot joining of the two steel plates 2a and 2b which overlap | superposed, not only this but the to-be-joined object 2 overlap | superposed 2 It is not limited to the steel plates 2a and 2b, and may be three or more steel plates in which the workpieces 2 are superposed. Further, the friction stir welding apparatus 1 is not limited to spot welding, and can be applied to, for example, joining two steel plates together. In this case, the joining portion that extends linearly is backed by the backing member 21, temperature detection means is provided so that the temperature can be measured over the entire length of the backing member 21, and the joint detected indirectly by the temperature detection means. The bonding tool 4 may be controlled based on the temperature of the tool 4.

本発明は、特に、一般構造用鋼材、建築用構造用鋼材、及び軌道車両や自動車などの車両用鋼板などの鉄鋼材料からなる被接合物を接合するために好適な摩擦攪拌接合装置に利用することができる。   INDUSTRIAL APPLICABILITY The present invention is used in a friction stir welding apparatus suitable for joining workpieces made of steel materials such as general structural steel materials, structural structural steel materials, and steel plates for vehicles such as track vehicles and automobiles. be able to.

１ 摩擦攪拌接合装置
２ 被接合物
３ 被接合部
４ 接合ツール
４６ 装着部
４７ ショルダ部
４８ ピン部（突起部）
１１ 接続フレーム
１２ 基体
１３ 直線移動駆動部（移動手段）
１４ 回転駆動部（回転駆動手段）
１５ 移動体
１６ ツール保持体
１７ 回転ロッド
２０ 支持台
２１ 裏当て部材
２２ 制御装置（制御手段、記録手段）
３１ 裏当て部
３１ａ 検出用穴
３２ ホルダ部
３３ 均熱材
３４ 熱電対（温度検出手段）
３５ 温度測定器（温度検出手段） DESCRIPTION OF SYMBOLS 1 Friction stir welding apparatus 2 To-be-joined object 3 To-be-joined part 4 Joining tool 46 Mounting part 47 Shoulder part 48 Pin part (projection part)
DESCRIPTION OF SYMBOLS 11 Connection frame 12 Base body 13 Linear movement drive part (moving means)
14 Rotation drive part (rotation drive means)
DESCRIPTION OF SYMBOLS 15 Moving body 16 Tool holding body 17 Rotating rod 20 Support stand 21 Backing member 22 Control apparatus (control means, recording means)
31 Backing part 31a Detection hole 32 Holder part 33 Soaking material 34 Thermocouple (temperature detection means)
35 Temperature measuring device (temperature detection means)

Claims (10)

先端に被接合物の被接合部と接触する突起部を有する接合ツールと、
前記接合ツールを軸周りに回転させる回転駆動手段と、
前記接合ツールを軸線方向に移動させる移動手段と、
前記接合ツールが回転しながら移動して前記被接合物の被接合部を押圧する接合時に、前記被接合部の前記接合ツールと反対側に当接して前記被接合物を支持する裏当て部材と、
予め設定された加工条件に基づいて前記回転駆動手段及び前記移動手段の動作を制御する制御手段と、
前記裏当て部材に設けた被検出点の温度を検出する温度検出手段と、
前記被検出点の温度を取得し、予め設定された前記接合ツールの温度と前記裏当て部材の温度との相関関係に基づいて前記被検出点の温度から推定された接合ツールの温度を算出して記録する記録手段とを、備えていることを特徴とする摩擦攪拌接合装置。 A joining tool having a protrusion at the tip that comes into contact with the part to be joined;
Rotational drive means for rotating the joining tool about an axis;
Moving means for moving the joining tool in the axial direction;
A backing member that supports the object to be bonded by contacting the side of the bonded part opposite to the bonding tool at the time of bonding in which the bonding tool moves while rotating and presses the bonded part of the object to be bonded; ,
Control means for controlling the operation of the rotation driving means and the moving means based on preset processing conditions;
Temperature detecting means for detecting the temperature of the detected point provided on the backing member;
The temperature of the detected point is acquired, and the temperature of the welding tool estimated from the temperature of the detected point is calculated based on the correlation between the temperature of the welding tool set in advance and the temperature of the backing member. A friction stir welding apparatus comprising: a recording means for recording. 前記制御手段は、前記推定された接合ツールの温度が予め設定された上限温度に達すると、接合加工を強制的に終了させる、請求項１に記載の摩擦攪拌接合装置。   2. The friction stir welding apparatus according to claim 1, wherein when the estimated temperature of the welding tool reaches a preset upper limit temperature, the control means forcibly ends the welding process. 前記制御手段は、前記推定された接合ツールの温度が予め設定された上限温度に達すると、前記接合ツールの温度が前記上限温度以下となるように接合加工時間、前記接合ツールの回転数、及び前記接合ツールの前記被接合部に対する押圧力のうちいずれか一つ又は複数の組み合わせを変化させる、請求項１に記載の摩擦攪拌接合装置。   The control means, when the estimated temperature of the welding tool reaches a preset upper limit temperature, the bonding processing time, the rotation speed of the welding tool, so that the temperature of the welding tool is equal to or less than the upper limit temperature, and The friction stir welding apparatus according to claim 1, wherein any one or a combination of pressing forces of the welding tool against the bonded portion is changed. 前記記録手段は、接合加工を開始してから前記推定された接合ツールの温度がピークに達するまでのピーク温度到達時間を計測し、
前記制御手段は、前記ピーク温度到達時間が予め設定された正常値の範囲から外れるときは、接合加工を強制的に終了させる、請求項１に記載の摩擦攪拌接合装置。 The recording means measures a peak temperature arrival time from the start of bonding processing until the estimated temperature of the bonding tool reaches a peak,
2. The friction stir welding apparatus according to claim 1, wherein the control means forcibly terminates the joining process when the peak temperature arrival time deviates from a preset normal value range. 前記被検出点は、前記接合ツールの回転軸の延長線上に配置されている、請求項１〜４のいずれか一項に記載の摩擦攪拌接合装置。   The friction stir welding apparatus according to any one of claims 1 to 4, wherein the detected point is disposed on an extension line of a rotation axis of the welding tool. 前記被検出点は、前記裏当て部材の内部であって前記裏当て部材の前記被接合物と当接する面から０．３〜０．５ｍｍ離れたところに位置している、請求項５に記載の摩擦攪拌接合装置。   The said to-be-detected point is located in the place which was 0.3-0.5 mm away from the surface which contact | abuts the said to-be-joined object of the said backing member inside the said backing member. Friction stir welding equipment. 裏当て部材で支持された被接合物の被接合部を、軸周りに回転する接合ツールで押圧することにより、発生した摩擦熱で前記被接合部を軟化させ、この軟化した部分に前記接合ツールの少なくとも一部を没入させて攪拌することにより、前記被接合部を固相状態で摩擦接合する摩擦攪拌接合方法であって、
前記裏当て部材に設けた被検出点の温度を検出するステップと、
予め設定された前記接合ツールの温度と前記裏当て部材の温度の相関関係に基づいて、検出された前記被検出点の温度から推定された接合ツールの温度を算出して記録するステップとを、含むことを特徴とする摩擦攪拌接合方法。 By pressing the bonded portion of the bonded object supported by the backing member with a bonding tool that rotates around the axis, the bonded portion is softened by the generated frictional heat, and the softened portion is bonded to the bonded tool. A friction stir welding method in which at least a part of the material is immersed and stirred to friction-join the joined parts in a solid state,
Detecting the temperature of the detected point provided on the backing member;
Calculating and recording the temperature of the welding tool estimated from the detected temperature of the detected point based on the correlation between the temperature of the welding tool set in advance and the temperature of the backing member; A friction stir welding method comprising: 前記推定された接合ツールの温度と予め設定された上限温度とを比較するステップと、
前記推定された接合ツールの温度が前記上限温度に達すると、接合加工を強制的に終了するステップとを、更に含む、請求項７に記載の摩擦攪拌接合方法。 Comparing the estimated temperature of the welding tool with a preset upper temperature;
The friction stir welding method according to claim 7, further comprising a step of forcibly terminating the joining process when the estimated temperature of the joining tool reaches the upper limit temperature. 前記推定された接合ツールの温度と予め設定された上限温度とを比較するステップと、
前記推定された接合ツールの温度が前記上限温度に達すると、前記接合ツールの温度が前記上限温度以下となるように接合加工時間、前記接合ツールの回転数、及び前記接合ツールの前記被接合部に対する押圧力のうちいずれか一つ又は複数の組み合わせを変化させるステップとを、更に含む、請求項７に記載の摩擦攪拌接合方法。 Comparing the estimated temperature of the welding tool with a preset upper temperature;
When the estimated temperature of the welding tool reaches the upper limit temperature, the bonding time, the number of rotations of the welding tool, and the portion to be bonded of the welding tool so that the temperature of the welding tool is equal to or lower than the upper limit temperature. The friction stir welding method according to claim 7, further comprising a step of changing any one or a plurality of combinations of the pressing force on the frictional force. 接合加工を開始してから前記推定された接合ツールの温度がピークに達するまでのピーク温度到達時間を計測するステップと、
前記ピーク温度到達時間が予め設定された正常値の範囲から外れるときは、接合加工を強制的に終了するステップとを、更に含む、請求項７に記載の摩擦攪拌接合方法。 Measuring a peak temperature arrival time from the start of bonding processing until the estimated temperature of the bonding tool reaches a peak; and
The friction stir welding method according to claim 7, further comprising a step of forcibly terminating the joining process when the peak temperature arrival time is out of a preset normal value range.
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